From 3034aef57091112565f62b962c6190799191e4ac Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 7 Jun 2023 16:16:57 +1000
Subject: [PATCH] AP_DroneCAN: add a delay after an event on process

ensure MCU gives up some time
---
 libraries/AP_DroneCAN/AP_Canard_iface.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/AP_DroneCAN/AP_Canard_iface.cpp b/libraries/AP_DroneCAN/AP_Canard_iface.cpp
index 969a725767..2016be1bf8 100644
--- a/libraries/AP_DroneCAN/AP_Canard_iface.cpp
+++ b/libraries/AP_DroneCAN/AP_Canard_iface.cpp
@@ -295,6 +295,7 @@ void CanardInterface::process(uint32_t duration_ms) {
         uint64_t now = AP_HAL::native_micros64();
         if (now < deadline) {
             _event_handle.wait(MIN(UINT16_MAX - 2U, deadline - now));
+            hal.scheduler->delay_microseconds(50);
         } else {
             break;
         }